/*
 * Copyright (C) 2006-2010 - Frictional Games
 *
 * This file is part of HPL1 Engine.
 *
 * HPL1 Engine is free software: you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation, either version 3 of the License, or
 * (at your option) any later version.
 *
 * HPL1 Engine is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with HPL1 Engine.  If not, see <http://www.gnu.org/licenses/>.
 */
#ifndef HPL_AI_NODE_CONTAINER_H
#define HPL_AI_NODE_CONTAINER_H

#include "system/SystemTypes.h"
#include "math/MathTypes.h"

#include "physics/PhysicsWorld.h"

namespace hpl {

	class cWorld3D;

	//--------------------------------

	typedef tFlag tAIFreePathFlag;

	#define eAIFreePathFlag_SkipStatic	 (0x00000001)
	#define eAIFreePathFlag_SkipDynamic	 (0x00000002)
	#define eAIFreePathFlag_SkipVolatile (0x00000004)


	//--------------------------------
	class cAINode;

	class cAINodeEdge
	{
	public:
		float mfDistance;
		float mfSqrDistance;
		cAINode *mpNode;
	};

	typedef std::vector<cAINodeEdge> tAINodeEdgeVec;
	typedef tAINodeEdgeVec::iterator tAINodeEdgeVecIt;

	//--------------------------------

	class cAINode
	{
		friend class cAINodeContainer;
	public:
		cAINode();
		~cAINode();

		void AddEdge(cAINode *pNode);

		int GetEdgeNum() const { return (int)mvEdges.size();}
		inline cAINodeEdge* GetEdge(int alIdx) { return &mvEdges[alIdx];}

		const cVector3f& GetPosition(){ return mvPosition;}

		const tString& GetName(){ return msName;}

	private:
		tString msName;
		cVector3f mvPosition;
		void *mpUserData;

		tAINodeEdgeVec mvEdges;
	};

	typedef std::vector<cAINode*> tAINodeVec;
	typedef tAINodeVec::iterator tAINodeVecIt;

	typedef std::list<cAINode*> tAINodeList;
	typedef tAINodeList::iterator tAINodeListIt;

	typedef std::map<tString,cAINode*> tAINodeMap;
	typedef tAINodeMap::iterator tAINodeMapIt;

	//--------------------------------

	class iAIFreePathCallback
	{
	public:
		virtual bool Intersects(iPhysicsBody *pBody,cPhysicsRayParams *apParams)=0;
	};

	//--------------------------------

	class cAINodeRayCallback : public iPhysicsRayCallback
	{
	public:
		void Reset();
		void SetFlags(tAIFreePathFlag aFlags){ mFlags = aFlags;}

		bool BeforeIntersect(iPhysicsBody *pBody);
		bool OnIntersect(iPhysicsBody *pBody,cPhysicsRayParams *apParams);

		bool Intersected();

		iAIFreePathCallback *mpCallback;

	private:
		bool mbIntersected;
		tAIFreePathFlag mFlags;
	};

	//--------------------------------

	class cAIGridNode
	{
	public:
		tAINodeList mlstNodes;
	};

	//--------------------------------
	class cAINodeContainer;

	class cAINodeIterator
	{
	public:
		cAINodeIterator(cAINodeContainer *apContainer, const cVector3f &avPos, float afRadius);

		bool HasNext();
		cAINode *Next();

	private:
		bool IncGridPos();

		cAINodeContainer *mpContainer;
		cVector3f mvPosition;
		float mfRadius;
		cVector2l mvStartGridPos;
		cVector2l mvEndGridPos;
		cVector2l mvGridPos;

		tAINodeList *mpNodeList;
		tAINodeListIt mNodeIt;
	};

	//--------------------------------

	class cAINodeContainer
	{
	friend class cAINodeIterator;
	public:
		cAINodeContainer(	const tString& asName,const tString &asNodeName,
							cWorld3D *apWorld, const cVector3f &avCollideSize);
		~cAINodeContainer();

		const tString& GetNodeName(){ return msNodeName;}
		const tString& GetName(){ return msName;}

		const cVector3f& GetCollideSize(){ return mvSize;}

		/**
		 * Reserves spaces for nodes.
		 * \param alReserveSpace Number of nodes to reserve space for.
		 */
		void ReserveSpace(size_t alReserveSpace);

		/**
		* Adds a new node to the container.
		* \param &asName Name of the node
		* \param &avPosition Position of the node.
		* \param *apUserData Data supplied by user.
		 */
		void AddNode(const tString &asName, const cVector3f &avPosition, void *apUserData=NULL);

		/**
		 * Get the number of nodes.
		 */
		int GetNodeNum() const;

		/**
		 * Get a node.
		 * \param alIdx index of node.
		 */
		inline cAINode* GetNode(int alIdx){return mvNodes[alIdx];}

		/**
		 * Gets a node based on the name.
		 * \param &asName Name of the node.
		 */
		cAINode* GetNodeFromName(const tString &asName);


		/**
		 * Compile the added nodes.
		 */
		void Compile();

		/**
		 * Build a grid map for nodes. (Used internally mostly)
		 */
		void BuildNodeGridMap();

		/**
		 * Returns a node iterator. Note that the radius is not checked, some nodes may lie outside.
		 * \param &avPosition
		 * \param afRadius
		 * \return
		 */
		cAINodeIterator GetNodeIterator(const cVector3f &avPosition, float afRadius);

		/**
		 * Checks for a free path using the containers collide size.
		 * \param &avStart
		 * \param &avEnd
		 * \param alRayNum The max number of rays cast, -1 = maximum
		 * \param alFlags Set Flags for the ray casting.
		 * \param apCallback Check for every body and overrides alFlags.
		 * \return
		 */
		bool FreePath(const cVector3f &avStart, const cVector3f &avEnd, int alRayNum=-1,
						tAIFreePathFlag aFlags=0, iAIFreePathCallback *apCallback=NULL);


		/**
		 * Sets the max number of end node added to a node.
		 * \param alX The max number, -1 = unlimited
		 */
		void SetMaxEdges(int alX){ mlMaxNodeEnds = alX;}

		/**
		* Sets the min number of end node added to a node. This overrides max distance when needed.
		*/
		void SetMinEdges(int alX){ mlMinNodeEnds = alX;}

		/**
		 * Sets the max distance for an end node.
		 * \param afX
		 */
		void SetMaxEdgeDistance(float afX){ mfMaxEndDistance = afX;}

		float GetMaxEdgeDistance() const { return mfMaxEndDistance;}

		void SetMaxHeight(float afX){ mfMaxHeight = afX;}
		float GetMaxHeight()const{ return mfMaxHeight;}

		/**
		 * When calculating if there is a free path between two nodes. Is the node postion the center of the collider.
		 * If not the position is the feet postion.
		 */
		void SetNodeIsAtCenter(bool abX){ mbNodeIsAtCenter = abX;}
		bool GetNodeIsAtCenter(){ return mbNodeIsAtCenter;}


		/**
		 * Saves all the node connections to file.
		 */
		void SaveToFile(const tString &asFile);
		/**
		* Loads all node connections from file. Only to be done after all nodes are loaded.
		*/
		void LoadFromFile(const tString &asFile);

	private:
		cVector2l GetGridPosFromLocal(const cVector2f &avLocalPos);
		cAIGridNode* GetGrid(const cVector2l& avPos);

		tString msName;
		tString msNodeName;

		cWorld3D *mpWorld;
		cVector3f mvSize;

		cAINodeRayCallback *mpRayCallback;
		tAINodeVec mvNodes;
		tAINodeMap m_mapNodes;

		bool mbNodeIsAtCenter;

		cVector2l mvGridMapSize;
		cVector2f mvGridSize;
		cVector2f mvMinGridPos;
		cVector2f mvMaxGridPos;
		int mlNodesPerGrid;

		std::vector<cAIGridNode> mvGrids;

		//properties
		int mlMaxNodeEnds;
		int mlMinNodeEnds;
		float mfMaxEndDistance;
		float mfMaxHeight;
	};

};
#endif // HPL_AI_NODE_CONTAINER_H
